基于位姿反馈的三臂空间机器人抓捕轨迹规划  

Trajectory Planning of a Three-arm Space Robot Based on Pose Feedback

作　　者：蓝启杰 刘宜成[1] 张涛[3] LAN Qijie;LIU Yicheng;ZHANG Tao(College of Electrical Engineering and Information Technology,Sichuan University,Chengdu,610065;Department of Automation,Tsinghua University,Beijing,100084;Xichang Satellite Launch Center,Xichang,Sichuan,615000)

机构地区：[1]四川大学电气信息学院,成都610065 [2]西昌卫星发射中心,西昌615000 [3]清华大学自动化系,北京100084

出　　处：《中国机械工程》2018年第20期2495-2501,共7页China Mechanical Engineering

摘　　要：以三臂空间机器人为研究对象,针对经历奇异位形时出现的位姿误差问题,提出一种基于位姿误差反馈的轨迹规划算法。根据系统一般运动学方程并结合动量守恒方程建立系统运动学模型,利用位姿期望指令得到误差运动方程。以关节角速度为控制量,设计了基于位姿误差反馈的控制率,使闭环系统的跟踪误差按指数速度收敛。该方法能够减小机器人奇异点邻域内的位姿跟踪误差,且在离开奇异区域后能完全消除误差。仿真结果证明了该方法的有效性。A trajectory planning algorithm was proposed based on pose error feedback for a three-arm space robot.The pose error problems might be solved when the robot went through a singular region.The kinematics model of the three-arm space robot was established by general kinematics equation and law of momentum conservation.The pose error kinematics equations were established by position and attitude expectations.Taking joint angular velocity as the control variable,a controller was designed based on error feedback of end-effectors and bases.The tracking errors of closed-loop system possessed specified exponential convergence rates.The method may reduce pose errors in the neighborhood of singularity points and eliminate the errors completely after leaving singular regions.Simulation results demonstrate the effectiveness of the proposed trajectory planning method.

关 键 词：航天机器人 奇异值 位姿 反馈控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]